FR2656435B1 - Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle. - Google Patents
Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.Info
- Publication number
- FR2656435B1 FR2656435B1 FR8917105A FR8917105A FR2656435B1 FR 2656435 B1 FR2656435 B1 FR 2656435B1 FR 8917105 A FR8917105 A FR 8917105A FR 8917105 A FR8917105 A FR 8917105A FR 2656435 B1 FR2656435 B1 FR 2656435B1
- Authority
- FR
- France
- Prior art keywords
- trajectory
- curvature
- modifying
- vehicle
- recording method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8917105A FR2656435B1 (fr) | 1989-12-22 | 1989-12-22 | Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle. |
US07/626,946 US5233526A (en) | 1989-12-22 | 1990-12-13 | Process for relocking on a theoretical trajectory for a vehicle, whilst modifying the curvature of the real trajectory |
EP90403722A EP0434569B1 (de) | 1989-12-22 | 1990-12-20 | Verfahren zur Neueinstellung eines Fahrzeuges auf eine theorethische Trajektorie durch Änderung der Krümmung der reellen Trajektorie |
DE69027917T DE69027917T2 (de) | 1989-12-22 | 1990-12-20 | Verfahren zur Neueinstellung eines Fahrzeuges auf eine theorethische Trajektorie durch Änderung der Krümmung der reellen Trajektorie |
ES90403722T ES2091235T3 (es) | 1989-12-22 | 1990-12-20 | Procedimiento de reajuste sobre una trayectoria teorica para un vehiculo, modificando la curvatura de la trayectoria real. |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8917105A FR2656435B1 (fr) | 1989-12-22 | 1989-12-22 | Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle. |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2656435A1 FR2656435A1 (fr) | 1991-06-28 |
FR2656435B1 true FR2656435B1 (fr) | 1996-07-05 |
Family
ID=9388903
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8917105A Expired - Fee Related FR2656435B1 (fr) | 1989-12-22 | 1989-12-22 | Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle. |
Country Status (5)
Country | Link |
---|---|
US (1) | US5233526A (de) |
EP (1) | EP0434569B1 (de) |
DE (1) | DE69027917T2 (de) |
ES (1) | ES2091235T3 (de) |
FR (1) | FR2656435B1 (de) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5663879A (en) * | 1987-11-20 | 1997-09-02 | North American Philips Corporation | Method and apparatus for smooth control of a vehicle with automatic recovery for interference |
KR940006567B1 (ko) * | 1992-01-06 | 1994-07-22 | 삼성전자 주식회사 | 관성을 이용한 네비게이션 시스템이 부착된 이동로보트 |
US5471385A (en) * | 1992-05-21 | 1995-11-28 | Tsubakimoto Chain Co. | Routeless guiding method for moving body |
US5416738A (en) * | 1994-05-27 | 1995-05-16 | Alliance Semiconductor Corporation | Single transistor flash EPROM cell and method of operation |
US5566288A (en) * | 1994-09-02 | 1996-10-15 | Caterpillar Inc. | System and method for automatically fitting a B-spline curve to a set of data points |
DE19521358C1 (de) * | 1995-06-12 | 1996-09-05 | Siemens Ag | Verfahren zur Schlupfermittlung einer autonomen mobilen Einheit mit Dreiradkinematik |
US5913376A (en) * | 1995-10-31 | 1999-06-22 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering control apparatus |
US5988306A (en) * | 1997-08-29 | 1999-11-23 | Yazaki Industrial Chemical Co., Ltd. | Automatically guided vehicle |
US6134486A (en) * | 1998-04-20 | 2000-10-17 | The United States Of America As Represented By The Secretary Of The Navy | Robot and method of control for an autonomous vehicle to track a path consisting of directed straight lines and circles with positional feedback and continuous curvature |
DE19822508A1 (de) | 1998-05-19 | 1999-12-02 | Daimler Chrysler Ag | Verfahren zur Generierung von Ankopplungsbahnen, verwendbar zur Führung eines Fahrzeugs zu einer vorgegebenen Zielbahn |
US6314341B1 (en) * | 1999-11-26 | 2001-11-06 | Yutaka John Kanayama | Method of recording trajectory data and sensor data for a manually-driven vehicle |
US6377889B1 (en) * | 2000-10-13 | 2002-04-23 | Trimble Navigation Limited | Non-linear method of guiding to arbitrary curves with adaptive feedback |
JP4230312B2 (ja) * | 2003-08-21 | 2009-02-25 | 富士重工業株式会社 | 車両の進行路推定装置、及び、その進行路推定装置を備えた走行制御装置 |
US7266438B2 (en) * | 2005-08-26 | 2007-09-04 | Gm Global Technology Operations, Inc. | Method of assisting driver to negotiate a roadway |
US8510041B1 (en) * | 2011-05-02 | 2013-08-13 | Google Inc. | Automatic correction of trajectory data |
DE102013001229A1 (de) * | 2013-01-25 | 2014-07-31 | Wabco Gmbh | Verfahren zum Ermitteln eines Auslöekriteriums für eine Bremsung und ein Notbremssystem zur Durchführung des Verfahrens |
DE102013001228A1 (de) * | 2013-01-25 | 2014-07-31 | Wabco Gmbh | Verfahren zum Ermitteln eines Auslösekriteriums für eine Bremsung und Notbremssystem für ein Fahrzeug |
CN109416544B (zh) * | 2016-06-29 | 2022-08-16 | 日本电产株式会社 | 移动体引导系统、移动体、引导装置以及存储器 |
JP6643370B2 (ja) * | 2018-01-23 | 2020-02-12 | 本田技研工業株式会社 | 走行基準ライン決定装置及び自動運転装置 |
US11392127B2 (en) * | 2018-10-15 | 2022-07-19 | Zoox, Inc. | Trajectory initialization |
CN114563982B (zh) * | 2022-01-24 | 2023-05-09 | 中铁九桥工程有限公司 | 一种移动设备在圆管上运动轨迹的控制方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3757887A (en) * | 1971-07-09 | 1973-09-11 | Versadyne Inc | Vehicle guidance system |
SE423839B (sv) * | 1980-10-02 | 1982-06-07 | Volvo Ab | Sett och anordning for styrning av ett styrbart hjulfordon |
US4817000A (en) * | 1986-03-10 | 1989-03-28 | Si Handling Systems, Inc. | Automatic guided vehicle system |
WO1987007403A1 (en) * | 1986-05-21 | 1987-12-03 | Kabushiki Kaisha Komatsu Seisakusho | Guiding apparatus for unmanned movable bodies |
JP2665738B2 (ja) * | 1986-07-11 | 1997-10-22 | 株式会社小松製作所 | 地点追従方式による無人移動機械の誘導方法 |
JP2572968B2 (ja) * | 1986-07-14 | 1997-01-16 | 株式会社椿本チエイン | 自律走行車の誘導方法 |
-
1989
- 1989-12-22 FR FR8917105A patent/FR2656435B1/fr not_active Expired - Fee Related
-
1990
- 1990-12-13 US US07/626,946 patent/US5233526A/en not_active Expired - Fee Related
- 1990-12-20 DE DE69027917T patent/DE69027917T2/de not_active Expired - Fee Related
- 1990-12-20 EP EP90403722A patent/EP0434569B1/de not_active Expired - Lifetime
- 1990-12-20 ES ES90403722T patent/ES2091235T3/es not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0434569A1 (de) | 1991-06-26 |
DE69027917D1 (de) | 1996-08-29 |
DE69027917T2 (de) | 1997-02-06 |
EP0434569B1 (de) | 1996-07-24 |
US5233526A (en) | 1993-08-03 |
FR2656435A1 (fr) | 1991-06-28 |
ES2091235T3 (es) | 1996-11-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse |